CN113089752A - Underwater dredging robot - Google Patents

Abstract

The invention relates to an underwater dredging robot, which at least comprises a platform frame, a dredging mechanism, a control unit and a vision and detection unit, and is characterized by further comprising a drum-type chassis, wherein the drum-type chassis is used as a walking mechanism of the robot, and the robot comprises: the drum-type chassis consists of two hollow and sealed spiral drums, a driving device and a chassis frame; two spiral rollers are supported below the chassis frame, and the driving device is arranged above the chassis frame; the two spiral rollers are symmetrically arranged, the spiral fan blades are arranged on the spiral rollers and are symmetrically arranged, so that the spiral fan blade device can perform actions such as turning and transverse movement. The roller-type chassis replaces the traditional crawler-type traveling mechanism, so that the weight is greatly reduced, the action is convenient, the turning and the transverse movement can be easily performed in a small range, and the roller-type chassis is more flexible and flexible.

Description

Underwater dredging robot

Technical Field

The invention belongs to the technical field of dredging equipment, and particularly relates to a robot device capable of carrying out underwater dredging.

Background

In water, whether natural waters, sewer pipes, culverts and ditches, industrial water treatment pools, fish ponds and the like can cause silting, so the demand of dredging is brought forward. The existing dredging mode is to pump water to be dry, and directly carry out dredging work by an excavator or a dredging machine under the condition of no water, the working mode has large and complicated engineering quantity, and can also lead a dredging target not to carry out working production within a long period of time, thereby causing certain economic loss, so the working mode has low production efficiency, high labor intensity and high economic cost.

Patent CN 212052943U discloses a submersible dredging robot, which comprises a frame assembly, an inner bottom plate is arranged at the bottom in the frame assembly, a lower layer oil tank is fixed at the bottom of the inner bottom plate through a screw, the two sides of the lower layer oil tank are both provided with a crawler chassis assembly, one side of the top of the inner bottom plate and one side of the inner frame assembly are provided with an upper layer oil tank, a hydraulic power unit assembly is arranged above the upper oil tank, both sides of the top of the inner bottom plate are provided with differential pressure compensators, a mud pump assembly is arranged between the pressure difference compensators, a mud suction pipe is arranged on one side of the mud pump assembly, which is far away from the hydraulic power unit assembly, the mud suction pipe is provided with a trailing suction unit assembly at one end far away from the mud pump assembly, and an upper-layer large-arm connecting rod and a lower-layer large-arm connecting rod are arranged at two ends of one side of the trailing suction unit assembly corresponding to the frame assembly. This patent adopts the formula operation mode of harrow suction to decontaminate, can adapt to the diving operation demand.

However, the crawler-type chassis adopted in the patent can satisfy the operation requirements in a wide area, but the turning and the transverse movement are slightly insufficient in relatively narrow spaces such as pipelines, culverts, ditches and the like.

Secondly, the patent only considers the sludge with fine texture, but the mixed large sundries such as stones, branches and the like cannot be used as the power, and other patents also relate to a large sundry collecting device, but the device disclosed by the patent is complex in structure, low in collecting efficiency and difficult to meet the requirement of efficient and continuous operation.

Disclosure of Invention

In order to solve the above problems, a primary object of the present invention is to provide an underwater dredging robot, which improves an underwater walking mode of the robot by changing a walking mechanism, so that the robot can perform actions such as turning and lateral movement in a narrow space, thereby facilitating dredging actions.

Another object of the present invention is to provide an underwater dredging robot, which can effectively remove heavy impurities and impurity clusters such as stones, cloth, branches, etc. by changing a dredging structure, and increase dredging speed and efficiency, so as to meet the requirements of efficient and continuous operation.

In order to achieve the above object, the technical solution of the present invention is as follows.

The utility model provides an underwater dredging robot, includes platform frame, desilting mechanism, the control unit and vision and detecting element at least, its characterized in that the robot still includes drum-type chassis, drum-type chassis is as the running gear of robot, wherein:

the drum-type chassis consists of two hollow and sealed spiral drums, a driving device and a chassis frame; two spiral rollers are supported below the chassis frame, the driving device is arranged above the chassis frame and drives the spiral rollers from the connecting part of the chassis frame and the spiral rollers; the two spiral rollers are symmetrically arranged, the spiral fan blades are arranged on the spiral rollers and symmetrically arranged, namely the spiral fan blades on the two spiral rollers are arranged in opposite directions, so that the spiral rollers rotate in different directions, if the two rollers rotate in the same direction, the robot can move transversely, one roller rotates, and if the two rollers do not move, the robot can turn, so that the robot can turn, and the robot can turn, move transversely and the like. The roller-type chassis replaces the traditional crawler-type traveling mechanism, so that the weight is greatly reduced, the action is convenient, the turning and the transverse movement can be easily performed in a small range, and the roller-type chassis is more flexible and flexible.

The spiral fan blades are protruding threads so as to support the walking of the robot.

The spiral roller is hollow inside so as to have certain buoyancy and facilitate the walking of the robot. The hollow structure of the spiral roller can be used as a buoyancy adjusting box, and water is injected or drained into the hollow structure through an air pipe and a water pipe at the end part of the hollow structure, so that the buoyancy of the machine body is adjusted. In the drawing, the air pipe and the water pipe are fixedly connected with the vehicle body and do not rotate along with the roller, so that the water pipe is always arranged at the lower end, the air pipe is arranged at the upper end, air in the roller is discharged along the air pipe when water is injected through the water pipe, and the air enters the roller along the air pipe when water is discharged in the same way. When the ground-holding force of the vehicle body is not enough, a proper amount of water can be injected into the roller so as to increase the weight of the equipment, thereby obtaining higher ground-holding force and leading the equipment to work better; when the sludge is soft and thick or the pipe wall or the ground is weak, water in the sludge can be pumped out to reduce the total weight of the equipment, so that larger buoyancy can be obtained, and the pressure on the ground can be reduced, so that the sludge can be prevented from being deeply sunk or the pipe wall or the ground can be prevented from being damaged.

Furthermore, the driving device is a hydraulic driving mechanism and comprises a hydraulic motor and a gearbox, the hydraulic motor outputs power to the gearbox, the gearbox controls and adjusts output power and rotating speed, and the gearbox outputs power to the spiral roller.

Furthermore, the spiral roller is an oval cylinder, the outer end of the cylinder is provided with a shaft, correspondingly, the chassis frame extends downwards to form four cantilevers, and the two cantilevers are a pair and support the two spiral rollers; the shaft passes through the cantilever and is connected with a gearbox, and the gearbox can control the rotating speed and the steering of the spiral roller so as to achieve the purpose of driving the robot to walk.

Furthermore, the two ends of the spiral roller are provided with rotating shafts, the rotating shafts are erected on the cantilevers extending downwards from the chassis frame and are sealed with the cantilevers through oil seals, and therefore water is prevented from entering the gearbox.

The platform frame is a main body frame skeleton of the equipment, a drum-type chassis is connected below the platform frame, and a hydraulic station, a control equipment cabin and a dredging mechanism can be fixedly installed in the frame.

The dredging mechanism comprises a twisting and sucking mechanism and a pumping mechanism, the pumping mechanism is supported by the platform frame, support arms of the twisting and sucking mechanism are fixed on two sides of the platform frame, and the twisting and sucking mechanism extends forwards through the support arms.

The pumping mechanism is a hydraulic power slurry pump which is used for pumping the sludge pumped by the cutter suction mechanism to the ground for further treatment.

Furthermore, the cutter-suction mechanism is correspondingly provided with a collecting box which is arranged on the platform frame so as to accommodate sundries or sundry clusters with certain weight or volume.

Furthermore, the top of platform frame installs collecting box and vision and detection unit, and vision and detection unit is the arbitrary one or the combination of camera unit, sonar detection unit usually. The collecting box is arranged at the top of the machine body, can load large-block sundries or flexible sundries which cannot be cleaned by the cutter-suction mechanism, such as large stones, branches, nylon woven bags and the like, and collects the large-block sundries or the flexible sundries to be transported to the ground once when the operation is completed.

The invention has the beneficial effects that:

the invention can realize the front-back and left-right movement or turning of the vehicle body by driving the robot to move through the drum-type chassis and rotating the lower spiral drum in the same direction or in the reverse direction, and particularly in narrow pipelines or culverts, the vehicle body can transversely move without turning, thereby greatly enhancing the maneuverability and the flexibility of equipment.

By adopting the structure, the invention has the advantages of simple structure, flexible operation, high dredging capability, strong picking capability, low equipment cost, high working efficiency and the like.

Drawings

Fig. 1 is a schematic front view of the structure implemented by the present invention.

Fig. 2 is a partially enlarged view of a in fig. 1.

Fig. 3 is a perspective view of the bottom view achieved by the present invention.

Fig. 4 is a perspective view of a drum type chassis according to the present invention.

Fig. 5 is a top view of a cutter suction mechanism implemented by the present invention.

Fig. 6 is a schematic structural view of a sludge collection cover implemented by the present invention.

Fig. 7 is a schematic view of the structure of the suction sludge realized by the present invention.

Fig. 8 is a schematic structural diagram of an illumination lamp and a camera implemented by the invention.

Fig. 9 is a schematic structural view of a front axle of a drum-type chassis implemented by the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1-4, the underwater dredging robot implemented by the present invention comprises a cutter-suction mechanism 1, a platform frame 6, a collection box 5, a control unit (not shown) arranged in the platform frame 6, a drum-type chassis 9 and a vision and detection unit 4, wherein the drum-type chassis 9 is used as a walking mechanism of the robot and is also the core of the present invention, wherein:

the drum-type chassis 9 is composed of two hollow and sealed spiral drums 92, a driving device 93 and a chassis frame 91; referring to fig. 2, 3 and 4, the chassis frame 91 extends downward to form four cantilevers 911, and two cantilevers 911 form a pair and support two spiral rollers 92. The two spiral drums 92 are symmetrically arranged, the spiral drums 92 mainly comprise a drum 921 and spiral blades 922, wherein the spiral blades 922 are arranged on the drum 921, the spiral blades 922 on the two drum 921 are symmetrically arranged, that is, the rotation directions of the spiral blades 922 on the two spiral drums 92 are opposite, the two spiral drums 92 are independently controlled to enable the spiral drums 92 to rotate asynchronously, when one of the two spiral drums rotates left and right, the robot can drive forwards or backwards, when one of the two spiral drums rotates and does not move, the robot can turn, when the two spiral drums rotate in the same direction, the robot can move transversely, and therefore the robot can perform actions such as turning and transverse movement. The invention adopts the drum-type chassis to replace the traditional crawler-type travelling mechanism, changes the robot from the basic travelling mode, not only greatly lightens the weight, but also has convenient action, can easily turn and transversely move in a small range, and is more flexible and flexible.

The driving device 93 is a hydraulic motor assembly, is arranged at the rear side of the chassis frame 91, and drives the spiral roller 92 from the connecting part of the chassis frame 91 and the spiral roller 92; specifically, the hydraulic motor assembly 93 includes a hydraulic motor 931 and a gearbox 932, wherein the hydraulic motor 931 outputs power to the gearbox 932, and the gearbox 932 provides power to the helical roller 92. Referring to fig. 2, the outer end of the cylinder 921 has a shaft 923, which passes through the cantilever 911 (the cantilever 911 is provided with a bearing 912, and an oil seal 94 is arranged outside the bearing 912 to seal and prevent water from entering the transmission 932), and is connected to the transmission 932, so that the transmission 932 can control the rotation speed and the rotation direction of the spiral roller 92 to achieve the purpose of driving the robot to walk.

Generally, the spiral blade 922 is a thread having a certain thickness and protruding to have a certain strength and thickness for better driving force, so that the robot can be strongly supported and driven.

The upper part of the drum-type chassis 9 is provided with a platform frame 6, and the platform frame 6 is a closed box body which is provided with a pumping mechanism 15, a control unit and a hydraulic station. Wherein the body of the pumping mechanism 15 is a hydraulically powered slurry pump which functions to pump the sludge pumped by the sludge transport pipe 3 to the surface for further processing. The control unit is the brain and the nerve center of the whole equipment, and can carry out various operations according to program instructions, including the control of the support arm, the control of the motor, the control of the spiral roller and the like; and the device can also communicate with the land, and complete the whole dredging work according to the actual instructions of people. The program is usually designed according to the control commands for the hydraulic motor, the pumping mechanism 15, the camera 41, etc., and is not described in detail herein for the prior art.

The hydraulic station is a power source spring of a hydraulic system on the robot and provides hydraulic oil with proper pressure and flow for hydraulic power components on the robot, so that the hydraulic power components can realize corresponding actions according to the requirements of the controller. The pumping mechanism, the control unit and the hydraulic station can be realized by the prior art, and are not described in detail herein.

The upper part of the platform frame 6 is provided with a collecting box 5, the collecting box 5 is used for loading large-block sundries or flexible sundries such as large stones, branches, nylon woven bags and the like which cannot be cleaned by the cutter-suction mechanism, and the large-block sundries or the flexible sundries are collected and transported to the ground once when the operation is completed. During the dredging process, large sundries (stones, plastics, clothes and the like) in the sludge are intercepted by the trash rack and then are stored in the sludge collecting cover 11, after the sundries are stored to a certain degree, the sludge collecting cover 11 can be adjusted by the lifting support arm 2 to move to the position above the collecting box 5, and then the sludge collecting cover 11 is rotated to pour the sundries into the collecting box 5.

Wherein, the removal of cover 11 is collected to silt is realized through lift support arm 2, specifically speaking, realize through hydraulic stem 7 to the lift control of support arm 2, hydraulic pressure station in the platform frame 6 is connected to hydraulic stem 7 to control the lift of hydraulic stem 7, hydraulic stem 7 divides into two sections, all installs in the support arm 2 below that is the form of buckling, in order to support arm 2, support arm 2 then is connected to the both sides that cover 11 was collected to silt, collect cover 11 to silt and lift, so that bulky objects such as stone can move and collect in collection box 5.

For the clearance of silt, mainly adopt the hank to inhale mechanism 1, the hank inhales the mechanism and is current mechanism. Referring to fig. 1 and fig. 5 and 6, the cutter-suction mechanism 1 comprises a sludge collecting cover 11, a bidirectional packing auger 12, a packing auger driving motor (not shown), a lifting hydraulic cylinder 7, a lifting support arm 2, a trash rack plate 13 and a pumping mechanism 15. The silt is collected the cover and is installed on the lift support arm of a pair of two-stage, collects the tilting mechanism combined action on covering at lift support arm, pneumatic cylinder and silt and realizes down spy, raise, retrieve and action such as upset, and the silt is collected the cover and is the dustpan shape, as shown in figure 7, the automobile body drives it and gos forward, shovels into the silt and collects in the cover, then carries out certain angle and upwards deflects, prevents that silt from scattering and being convenient for suction.

The construction of the two-way auger 12, as described in patent application 202020027630.9 and shown in fig. 4, is not described herein in detail, and functions to agitate and break up the sludge collected by the sludge collection cover and to collect the sludge toward the suction device disposed at the center of the sludge collection cover for suction. The auger motor (not shown) is usually arranged at one side of the sludge collection cover, and drives the bidirectional auger 12 to rotate by using hydraulic power; the pumping mechanism 15 is arranged in the platform frame 6 of the robot and is used for pumping the sludge collected by the sludge collection cover to the pumping mechanism 15 through the sludge conveying pipe 3 after the sludge is scattered and consolidated by the bidirectional auger, and then the sludge is conveyed to the outside through the sludge conveying pipe 8.

The hydraulic cylinder 7 and the support arm 2 for lifting are motion mechanisms of the sludge collection cover 11, and the sludge collection cover 11 realizes downward probing, upward raising, recovering, overturning and other actions through the cooperation of the motion mechanisms.

In other modes, the cutter suction mechanism 1 can also be provided with an angle sensor which is arranged on the lifting support arm and the sludge collecting cover, can sense the deflection angle and the current posture of the cutter suction mechanism and transmit signals to the ground control end, and the ground control end can transmit the parameters of the signals and visually display the current posture and the motion track of the machine on an operation screen in the form of animation so as to facilitate operators to better know the current state of the machine and perform the next action.

As shown in fig. 5 and 6, a trash rack plate 13 is arranged at the front part of the bidirectional auger 12 to divide large-volume articles such as stones, sundries and the like, and the trash rack plate 13 is arranged in front of a suction port 14 in the middle of the bottom in the sludge collection cover to filter out large impurities in the sludge such as larger stones, metal, iron wires, branches, nylon woven bags and impurities which cannot be absorbed by the material bag lamp pumping mechanism so as to avoid blocking pipelines; (ii) a The sludge collected by the sludge collection cover 1 finally enters the sludge conveying pipe 3 through the suction port 14 to be output, and in general, the suction port 14 is provided with a trash baffle plate to prevent large objects from entering the sludge conveying pipe 3 to damage pipelines and subsequent treatment equipment.

In order to ensure that the dredging process is within a controllable range, the platform frame 6 and the collecting box 5 are also provided with a vision and detection unit comprising a camera shooting unit and a sonar detection unit, as shown in fig. 7, wherein the camera shooting unit is generally composed of an illuminating lamp and a camera 4, and pictures shot at various angles through the illuminating lamp and the camera 4 are spliced and combined, and under the normal condition, the collecting box 5 is positioned at the uppermost part, and the illuminating lamp and the camera 4 can be arranged at the front and the rear of the collecting box, so that all-dimensional data can be collected, a global video and a front close-up suction operation video are formed, and are displayed on a control screen according to needs; for the purpose of omnibearing data adoption, as shown in fig. 7, the front wall of the collection box 5 is provided with two illuminating lamps and cameras 4, the platform frame 6 behind the collection box 5 is provided with one illuminating lamp and camera 4, and each support arm 2 is also provided with one illuminating lamp and camera 4. Therefore, the data of multiple angles can be collected, and the robot can be controlled conveniently.

The structure of the illumination lamp and camera 4 installed in the collection box 5 is shown in fig. 8, and includes a camera 41, an illumination lamp 42, a support column 43, and a fixing plate 44. Wherein, the fixed plate 44 is fixed on the front wall of the collecting box 5 and extends forwards, the extending part is provided with a supporting column 43, the supporting column 43 supports a camera 41 and illuminating lamps 42 positioned at two sides of the camera, and the illuminating lamps 42 illuminate so as to facilitate the shooting of the camera 41.

The light and camera 4 of setting on platform frame 6 and support arm 2, basic structure and setting are the same on collecting box 5, but from the position that sets up, can not set up the fixed plate, directly support camera and light through the support column.

Meanwhile, in other implementation manners, a sonar detection unit can be further arranged, wherein the sonar detection unit is mainly used for detecting the depth and the thickness of the sludge in the muddy water in front and is used for reference by an operator and is usually arranged on one side of the platform frame 6, and the sonar detection unit is a conventional device and is not shown in the figure.

In operation, the robot of the present invention drives the spiral rollers 92 to rotate by the hydraulic motor 931, wherein the asynchronous rotation of the two spiral rollers 92 can cause the robot to move back and forth; when the sludge collection cover 11 is lowered to contact the sludge on the ground, the pumping mechanism 15 is operated to pump the sludge to the sludge transfer pipe 3 through the suction port 14 of the sludge collection cover 11 and then to transfer the sludge to the outside through the sludge transfer pipe 8.

Meet debris such as the great stone of volume and weight, plastics, clothing, then can lift up through hydraulic stem 7 control support arm 2, support arm 2 drives silt and collects cover 11 and remove the top of collecting box 5, rotates silt and collects cover 11, makes debris such as stone, plastics, clothing fall into in collecting box 5. Therefore, the sludge can be thoroughly cleaned, and the cleaning effect and efficiency are improved.

Fig. 9 is a schematic view showing a structure in which the spiral drum can be filled with water in another mode. In this case, the cylindrical body 921 of the spiral roller is hollow, so that the spiral roller 92 can be used as a buoyancy adjustment tank. Specifically, the spiral drum 92 has a front shaft 924 at its front end, the front shaft 924 passes through a boom 911, the boom 911 is provided with a cover 913, and an air pipe 95 and a water pipe 97 pass through the cover 913 and are inserted into the cylinder 921, wherein a float is connected to an insertion end of the air pipe 95 so that the air pipe 95 is always kept above the liquid level when water is poured. A front shaft sleeve 99 is provided on the outer side of the front shaft 924, and sealing rings 98 are provided on both sides of the front shaft sleeve 99 to seal the front shaft 98.

In this way, water is injected or discharged through the air pipe 95 and the water pipe 97 at the front end of the spiral drum 92, thereby adjusting buoyancy of the body. In the figure, the air pipe 95 and the water pipe 97 are both fixedly connected with the vehicle body and do not rotate along with the spiral roller 92, so that the water pipe 97 is always arranged at the lower end, the air pipe 95 is arranged at the upper end, and air in the roller is discharged along the air pipe 95 when water is injected through the water pipe 97. Similarly, air enters the cylinder 921 along the air tube 95 during water discharge. When the ground-holding power of the vehicle body is not enough, a proper amount of water can be injected into the spiral roller 92 so as to increase the weight of the equipment, thereby obtaining higher ground-holding power and leading the equipment to work better; when the sludge is soft and thick or the pipe wall or the ground is weak, water in the sludge can be pumped out to reduce the total weight of the equipment, so that larger buoyancy can be obtained, and the pressure on the ground can be reduced, so that the sludge can be prevented from being deeply sunk or the pipe wall or the ground can be prevented from being damaged.

In a word, the invention drives the robot to move through the drum-type chassis, and the lower spiral drum rotates in the same direction or in the opposite direction, so that the front-back left-right movement or turning of the vehicle body can be realized, particularly in narrow pipelines or culverts, the vehicle body can move transversely without turning, and the maneuverability and the flexibility of the equipment are greatly enhanced.

This robot has increased the desilting mode through multiple silt processing method, can clear away the debris and the debris group of bulky weight such as stone, cloth, branch effectively, increases desilting speed and efficiency to satisfy high-efficient, continuous effect demand.

By adopting the structure, the invention has the advantages of simple structure, flexible operation, high dredging capability, strong picking capability, low equipment cost, high working efficiency and the like.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an underwater dredging robot, includes platform frame, desilting mechanism, the control unit and vision and detecting element at least, its characterized in that the robot still includes drum-type chassis, drum-type chassis is as the running gear of robot, wherein:

the drum-type chassis consists of two hollow and sealed spiral drums, a driving device and a chassis frame; two spiral rollers are supported below the chassis frame, the driving device is arranged above the chassis frame and drives the spiral rollers from the connecting part of the chassis frame and the spiral rollers; the two spiral rollers are symmetrically arranged, spiral fan blades are arranged on the spiral rollers, and the spiral fan blades are symmetrically arranged.

2. An underwater dredging robot as claimed in claim 1, wherein the helical blades are protruding threads to enable support for walking of the robot.

3. An underwater dredging robot as claimed in claim 1, wherein the spiral drum is hollow inside to have a certain buoyancy to facilitate the robot walking.

4. An underwater dredging robot as claimed in claim 1, wherein the driving device is a hydraulic driving mechanism comprising a hydraulic motor and a gearbox, the hydraulic motor outputs power to the gearbox, the gearbox controls and adjusts output power and rotation speed, and the gearbox outputs power to the spiral drum.

5. An underwater dredging robot as claimed in claim 4, wherein the spiral drum is an oval drum having a shaft at an outer end thereof, and correspondingly, the chassis frame is downwardly extended with four cantilevers, two cantilevers being a pair, supporting the two spiral drums; the shaft passes through the cantilever and is connected with a gearbox, and the gearbox can control the rotating speed and the steering of the spiral roller.

6. An underwater dredging robot as claimed in claim 1, wherein the platform frame is a main frame skeleton of the equipment, a drum-type chassis is connected below the platform frame, and a hydraulic station, a control equipment cabin and a dredging mechanism can be fixedly arranged in the frame.

7. An underwater dredging robot as claimed in claim 1, wherein the dredging mechanism comprises a cutter-suction mechanism and a pumping mechanism, the pumping mechanism is supported by the platform frame, support arms of the cutter-suction mechanism are fixed on two sides of the platform frame, and the cutter-suction mechanism extends forwards through the support arms.

8. An underwater dredging robot as claimed in claim 7, wherein the pumping mechanism is a hydraulically powered slurry pump operative to pump the sludge pumped by the pumping means to the surface for further processing.

9. An underwater dredging robot as claimed in claim 7, wherein the cutter-suction mechanism is correspondingly provided with a collection box which is provided on the platform frame so as to accommodate sundries or sundry lumps having a certain weight or volume.

10. An underwater dredging robot as claimed in claim 9, wherein the top of the platform frame is provided with a collection box and a vision and detection unit, and the vision and detection unit is any one or combination of a camera unit and a sonar detection unit.

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